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frc::Gyro Class Referenceabstract

Interface for yaw rate gyros. More...

#include <Gyro.h>

Inheritance diagram for frc::Gyro:
frc::GyroBase frc::ADXRS450_Gyro frc::AnalogGyro

Public Member Functions

 Gyro (Gyro &&)=default
 
Gyrooperator= (Gyro &&)=default
 
virtual void Calibrate ()=0
 Calibrate the gyro by running for a number of samples and computing the center value. More...
 
virtual void Reset ()=0
 Reset the gyro. More...
 
virtual double GetAngle () const =0
 Return the actual angle in degrees that the robot is currently facing. More...
 
virtual double GetRate () const =0
 Return the rate of rotation of the gyro. More...
 

Detailed Description

Interface for yaw rate gyros.

Member Function Documentation

virtual void frc::Gyro::Calibrate ( )
pure virtual

Calibrate the gyro by running for a number of samples and computing the center value.

Then use the center value as the Accumulator center value for subsequent measurements. It's important to make sure that the robot is not moving while the centering calculations are in progress, this is typically done when the robot is first turned on while it's sitting at rest before the competition starts.

Implemented in frc::AnalogGyro, and frc::ADXRS450_Gyro.

virtual double frc::Gyro::GetAngle ( ) const
pure virtual

Return the actual angle in degrees that the robot is currently facing.

The angle is based on the current accumulator value corrected by the oversampling rate, the gyro type and the A/D calibration values. The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

The angle is expected to increase as the gyro turns clockwise when looked at from the top. It needs to follow NED axis conventions in order to work properly with dependent control loops.

Returns
the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

Implemented in frc::AnalogGyro, and frc::ADXRS450_Gyro.

virtual double frc::Gyro::GetRate ( ) const
pure virtual

Return the rate of rotation of the gyro.

The rate is based on the most recent reading of the gyro analog value.

The rate is expected to be positive as the gyro turns clockwise when looked at from the top. It needs to follow NED axis conventions in order to work properly with dependent control loops.

Returns
the current rate in degrees per second

Implemented in frc::AnalogGyro, and frc::ADXRS450_Gyro.

virtual void frc::Gyro::Reset ( )
pure virtual

Reset the gyro.

Resets the gyro to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.

Implemented in frc::AnalogGyro, and frc::ADXRS450_Gyro.


The documentation for this class was generated from the following file: